Hydraulic system for sanitation cleaning robot

Abstract

The utility model discloses a hydraulic system for a sanitation cleaning robot, which belongs to the technical field of hydraulic systems and comprises an execution element, a power unit, an integrated control valve group and an emergency manual valve group. The integrated control valve set comprises a second electromagnetic valve, a filter, a pinger, a second overflow valve, a second valve block, a hydraulic lock and an electromagnetic valve inserting hole. The power unit comprises a motor, a hydraulic pump, a first electromagnetic valve, a first overflow valve, a first valve block, a hydraulic oil tank and a first one-way valve. Through the above mode, the motor can be started in a no-load or light-load state without causing motor faults, when the motor is started and operates stably, the motor can be switched to a normal mode, and power supply faults caused by overlarge starting current are avoided. According to the utility model, manual operation can be realized, so that an emergency function can be realized when a system breaks down.

Description

Technical Field

[0001] The utility model relates to the technical field of hydraulic systems, in particular to a hydraulic system for a sanitation cleaning robot. Background Art

[0002] Small electric sanitation sweepers or cleaning robots can be driven by hydraulic systems in working conditions such as lifting garbage bins, opening and closing tailgates, and locking batteries for battery replacement. The advantage of hydraulic systems over other transmission methods is that they can output large thrust or torque to achieve low-speed and large-tonnage movement. Under the same power conditions, hydraulic transmission devices are small in size, light in weight, and compact in structure. Hydraulic components can be connected by pipes or integrated connections, and their layout and installation are very flexible, which can form complex systems that are difficult to form with other transmission methods.

[0003] When the motor is initially started, the speed starts from zero, so the back EMF of the motor is zero. At this time, the voltage drop of the motor is almost entirely added to the resistor, resulting in a large current. As the motor speed increases, the back EMF gradually increases and the current gradually decreases. When the motor reaches the rated speed, the current drops to the rated current. According to the above-mentioned motor starting characteristics, a larger current is required at the moment of motor starting. In the existing cleaning robot hydraulic system, a higher power motor and power supply capacity are usually matched. However, when the matching power supply capacity of the whole system is insufficient, forced starting may cause the power supply voltage to drop due to excessive starting current, making the motor unable to start normally or causing a power failure. If it is replaced with a lower power motor, it may cause insufficient power in the hydraulic system and may not meet the use requirements.

[0004] At the same time, the cleaning robot will inevitably have system failures during operation, such as dead batteries, so emergency operation measures need to be added in the event of system failures.

[0005] Based on this, the utility model designs a hydraulic system for a sanitation cleaning robot to solve the above problems. Utility Model Content

[0006] In view of the above-mentioned shortcomings of the prior art, the utility model provides a hydraulic system for a sanitation cleaning robot.

[0007] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A hydraulic system for a sanitation cleaning robot, comprising an actuator, a power unit, an integrated control valve group and an emergency manual valve group;

[0009] The integrated control valve group includes a second solenoid valve, a filter, a signal transmitter, a second relief valve, a second valve block, a hydraulic lock and a solenoid valve jack; the upper end of the second valve block is provided with a plurality of solenoid valve jacks for plugging and fixing the second solenoid valve, the front end of the second valve block is plugged and fixedly installed with the second relief valve, the interior of the second valve block is fixedly connected with a plurality of hydraulic locks, and the second valve block is also fixedly installed with a filter and a signal transmitter; the interior of the second valve block is provided with a plurality of oil channels, and the oil outlet ends of the oil channels are respectively connected with the oil circuits of the actuators;

[0010] The power unit comprises a motor, a hydraulic pump, a solenoid valve, a relief valve, a valve block, a hydraulic oil tank and a check valve; the motor is fixedly mounted on the hydraulic oil tank, the output end of the motor is fixedly connected to the hydraulic pump built in the hydraulic oil tank, the valve block is plugged and fixedly mounted with a solenoid valve, a relief valve and a check valve; the check valve is fixedly connected to the oil inlet end of the oil channel through the oil circuit; one end of the solenoid valve is connected to the connecting oil circuit of the check valve and the oil channel; the oil return end of the oil channel is fixedly connected to the oil return port of the hydraulic oil tank.

[0011] Furthermore, the filter is installed in the oil passage; the hydraulic lock is installed from the lower part of the valve block 2 to the inside of the valve block 2.

[0012] Furthermore, the inside of the oil channel is threadedly installed with a hydraulic damper, and a damping hole is processed in the center of the hydraulic damper.

[0013] Furthermore, the actuator includes a cylinder and a hydraulic motor; the cylinder is connected to the power unit through an integrated control valve group, and the hydraulic motor is connected to the power unit through solenoid valve three; the emergency manual valve group is connected between the integrated control valve group and the power unit; the oil outlet end and the oil return end of the oil circuit channel are connected to the oil circuit of the cylinder and the hydraulic motor.

[0014] Furthermore, the solenoid valve three and the solenoid valve two are both threadedly inserted and fixedly connected to the valve block two; the hydraulic lock is threadedly inserted and fixedly connected inside the valve block two.

[0015] Furthermore, the total number of solenoid valves 2 and 3 is the same as the number of hydraulic locks, and hydraulic dampers are installed at both the oil inlet and oil return ends of the oil passage; and each group of solenoid valves 2, hydraulic locks and two hydraulic dampers are on the same oil passage; a group of solenoid valves 3, hydraulic locks and two hydraulic dampers are on the same oil passage.

[0016] Furthermore, the solenoid valve 1 adopts a normally closed two-position two-way solenoid valve; when starting, the solenoid valve 1 is first energized to open, and then the motor is started to drive the hydraulic pump to suck oil. Since the solenoid valve 1 is energized and conductive, the oil will directly enter the oil tank through the solenoid valve at this time, the hydraulic system is basically unloaded, and the motor is started with low power; when the motor starts S, the motor is running normally at this time, the solenoid valve 1 is powered off, the solenoid valve 1 becomes a long-closed state, and the oil cannot pass through. The oil passes through the one-way valve 1 and then the integrated control valve group to input the oil into the cylinder or hydraulic motor, so that the cylinder or hydraulic motor can move.

[0017] Furthermore, solenoid valve 1 is replaced with a normally open two-position two-way solenoid valve; when the motor starts, since solenoid valve 1 is normally open, the oil circuit is connected, the oil can pass through solenoid valve 1, there is no load in the hydraulic system, and the motor is started with low power; when the motor starts normally, power is supplied to solenoid valve 1, and attention is paid to ensure that solenoid valve 1 is energized at all times, the oil circuit in solenoid valve 1 is disconnected, and the oil cannot pass through; the oil passes through the one-way valve 1 and then the integrated control valve group to input the oil into the cylinder or hydraulic motor, so that the cylinder or hydraulic motor can move.

[0018] Furthermore, the emergency manual valve group includes an emergency manual pump and a one-way valve; the oil inlet end of the emergency manual pump is connected to the oil return port of the hydraulic oil tank, the oil return end of the emergency manual pump is fixedly connected to the connecting oil circuit between the oil circuit channel and the one-way valve, and a one-way valve is fixedly installed on the oil circuit of the oil return end of the emergency manual pump.

[0019] Beneficial Effects

[0020] The utility model adds a hydraulic lock to the oil circuit of each oil cylinder, so that the oil cylinder can still keep its position still when there is a certain load outside; the second solenoid valve, the filter, the hydraulic lock, the second overflow valve, the hydraulic lock, the hydraulic damping, and the third solenoid valve are all integrated on the second valve block, with a compact structure and small space occupation;

[0021] The hydraulic oil of the utility model is filtered through a filter after the power unit absorbs the oil, and then controls the oil cylinder or hydraulic motor through the solenoid valve 2, which can ensure the cleanliness of the oil in the hydraulic system. When there are too many impurities in the filter, the pressure difference between the two ends of the filter becomes larger, and the transmitter can sense the pressure change at both ends. When the preset value is reached, a signal alarm is sent to guide the maintenance personnel to clean or replace the filter element of the filter in time. The utility model can effectively intercept pollutants in the hydraulic system by configuring the filter and the transmitter to ensure the cleanliness of the oil. At the same time, it can also sense whether the impurities in the filter are blocked, ensuring the safe and stable operation of the hydraulic system.

[0022] The utility model forms a thin-wall hole flow through a damping hole, thereby adjusting the flow in the hydraulic system, and further making the movement speed of the actuator adjustable.

[0023] The utility model can realize the starting of the motor under no-load or light-load state without causing motor failure. When the motor starts and runs stably, it can be switched to normal mode to avoid power failure caused by excessive starting current.

[0024] When the system fails and the motor cannot be started, the utility model turns the emergency manual control of the solenoid valve 2, and then manually operates the emergency manual pump, which sucks oil from the return oil port of the hydraulic oil tank and inputs the oil to the cylinder or hydraulic motor through the integrated control valve group, thereby causing the cylinder or hydraulic motor to execute the action; the solid arrow is the oil return path of the actuator and the oil suction path of the emergency manual pump, both of which are sucked into the emergency manual pump, and the dotted arrow is the oil path of the emergency manual pump input to the actuator; the utility model can realize manual operation to play an emergency function when the system fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 This is a structural diagram of a hydraulic system for a sanitation cleaning robot of the utility model;

[0027] Figure 2 This is a structural diagram of the integrated control valve group in the utility model;

[0028] Figure 3 The utility model is a three-dimensional integrated control valve group Figure 1 ;

[0029] Figure 4 The utility model is a three-dimensional integrated control valve group Figure 2 ;

[0030] Figure 5 It is a three-dimensional diagram of the valve block 2 in the utility model;

[0031] Figure 6 This is the principle diagram of the solenoid valve 2 in the utility model;

[0032] Figure 7 It is a schematic diagram of the assembly structure of the hydraulic damping in the utility model;

[0033] Figure 8 for Figure 7 Aa direction cross-sectional view;

[0034] Fig. 9 for Figure 8The enlarged view of point B in the middle;

[0035] Fig.10 It is a cross-sectional view of the hydraulic damping in the utility model;

[0036] Fig.11 This is a structural diagram of the solenoid valve 2 in the utility model;

[0037] Fig.12 This is a structural diagram of the hydraulic lock in the utility model;

[0038] Fig.13 This is a schematic diagram of the hydraulic lock in the utility model;

[0039] Fig.14 It is a three-dimensional diagram of the power unit in the utility model;

[0040] Fig.15 It is a schematic diagram of the assembly structure of the power unit and the emergency manual valve group in the utility model.

[0041] The numbers in the figure represent:

[0042] 1. Cylinder; 2. Integrated control valve group; 21. Solenoid valve 2; 211. Emergency manual control; 212. Coil S1; 213. Coil S2; 22. Filter; 23. Transmitter; 24. Overflow valve 2; 25. Valve block 2; 26. Hydraulic lock; 27. Solenoid valve jack; 28. Hydraulic damping; 29. ​​Oil channel; 3. Power unit; 31. Motor; 32. Hydraulic pump; 33. Solenoid valve 1; 34. Overflow valve 1; 35. Valve block 1; 36. Hydraulic oil tank; 37. Check valve 1; 4. Emergency manual valve group; 41. Emergency manual pump; 42. Check valve; 5. Hydraulic motor; 6. Solenoid valve 3. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0044] The utility model is further described below in conjunction with embodiments.

[0045] Please refer to the instruction manual Figure 1-15 , a hydraulic system for a sanitation cleaning robot, comprising an actuator, an integrated control valve group 2, a power unit 3 and an emergency manual valve group 4;

[0046] The actuator includes an oil cylinder 1 and a hydraulic motor 5; the oil cylinder 1 is connected to the power unit 3 through an integrated control valve group 2, and the hydraulic motor 5 is connected to the power unit 3 through a solenoid valve 3 6; the emergency manual valve group 4 is connected between the integrated control valve group 2 and the power unit 3;

[0047] The cylinder 1 has multiple groups, including lifting cylinders, tailgate cylinders and sweep lift cylinders;

[0048] The integrated control valve group 2 includes a solenoid valve 21, a filter 22, an indicator 23, a relief valve 24, a valve block 25, a hydraulic lock 26 and a solenoid valve jack 27; the upper end of the valve block 25 is provided with a plurality of solenoid valve jacks 27 for plugging and fixing the solenoid valve 21, the front end of the valve block 25 is plugged and fixedly installed with the relief valve 24, the interior of the valve block 25 is fixedly connected with a plurality of hydraulic locks 26, the hydraulic locks 26 are installed from the lower part of the valve block 25 to the interior of the valve block 25, and the valve block 25 is also fixedly installed with a filter 22 and an indicator 23; the indicator 23 is used to detect the pressure difference at both ends of the filter 22, and sends a signal alarm when it reaches a preset value; the interior of the valve block 25 is provided with a plurality of oil passages 29, the interior of the oil passages 29 is threadedly installed with a hydraulic damper 28, and a damping hole is processed in the center of the hydraulic damper 28;

[0049] Preferably, the solenoid valve 3 6 and the solenoid valve 2 21 are both threadedly inserted and fixedly connected to the valve block 2 25;

[0050] Preferably, the hydraulic lock 26 is threadedly inserted and fixedly connected to the inside of the valve block 25;

[0051] The oil outlet and oil return ends of the oil passage 29 are connected to the oil circuits of the oil cylinder 1 and the hydraulic motor 5;

[0052] The total number of the solenoid valves 21 and 3 6 is the same as the number of the hydraulic locks 26, and the oil inlet and oil return ends of the oil passage 29 are both installed with hydraulic dampers 28; and each set of solenoid valves 21, hydraulic locks 26 and two hydraulic dampers 28 are on the same oil passage 29; a set of solenoid valves 3 6, hydraulic locks 26 and two hydraulic dampers 28 are on the same oil passage 29;

[0053] The utility model adds a hydraulic lock 26 to the oil circuit of each oil cylinder 1, so that the oil cylinder 1 can still keep its position still when there is a certain load outside; the solenoid valve 21, the filter 22, the hydraulic lock 26, the overflow valve 24, the hydraulic lock 26, the hydraulic damping 28, and the solenoid valve 3 6 are all integrated on the valve block 25, with a compact structure and small space occupation;

[0054] After the hydraulic oil is sucked by the power unit 3, it is first filtered through the filter 22, and then the solenoid valve 21 controls the oil cylinder 1 or the hydraulic motor 5, which can ensure the cleanliness of the oil in the hydraulic system. When there are too many impurities filtered in the filter 22, the pressure difference between the two ends of the filter 22 becomes larger, and the transmitter 23 can sense the pressure change at both ends. When the preset value is reached, a signal alarm is sent to guide the maintenance personnel to clean or replace the filter element of the filter 22 in time. The utility model can effectively intercept pollutants in the hydraulic system by configuring the filter 22 and the transmitter 23 to ensure the cleanliness of the oil. At the same time, it can also sense whether the impurities in the filter are blocked, ensuring the safe and stable operation of the hydraulic system.

[0055] The solenoid valve 21 adopts the existing mature structure; it can adopt electromagnetic drive, 3-position 4-way, direct-acting valve core type, hydraulic threaded cartridge valve; it is directly screwed into the solenoid valve socket 27 on the valve block 25 during assembly, and the working principle is: when the coil S2213 is de-energized, the oil is prevented from flowing to 3, and the oil is allowed to flow from 2 to 1 or from 4 to 1. When the coil S1212 is energized, the oil is allowed to flow from 3 to 4, and from 2 to 1. When the coil S2213 is energized, the oil can flow from 3 to 2, and from 4 to 1. In the oil circuit where the working oil port flow is unbalanced due to the cylinder area ratio, the return oil with a larger flow should be introduced into the oil port 2. Although the oil port 1 can be fully pressurized, it is not used as the oil inlet of the valve.

[0056] When there is no external power supply, the solenoid valve can also be reversed by operating the emergency manual control 211. The operation method is: pushing the emergency manual control 211 can control the function of the coil S2213, or pulling the emergency manual control 211 can control the function of the coil S1212. When not operated, the internal spring resets the valve core to the middle position.

[0057] The hydraulic lock 26 is essentially a double hydraulically controlled one-way valve, which is used to cut off or load-hold the oil circuit. It can be screwed into the corresponding socket during assembly. Its working principle is: the flow of oil in the direction of 1 to 2 and 4 to 3 is cut off. When the oil port 2 or the oil port 3 is subjected to a certain pressure, the corresponding one-way valve 3 or 2 is opened, and the oil can flow in the opposite direction. The hydraulic control ratio of the hydraulic lock 26 is 3:1, so the pressure of the hydraulic control pipeline (oil port 2 or 3) should be at least 1 / 3 of the load pressure at the oil port 4 or the oil port 1, so that the channel can be opened to allow the oil to flow out from the oil port 4 or 1.

[0058] The movement speed of the load can be changed by replacing the hydraulic damper 28 with different damping hole diameters. The principle is: the hydraulic oil passes through the damping hole of the hydraulic damper (28), the fluid becomes turbulent, the hydraulic oil flows from A to B, and a pressure difference △P=P1-P2 is formed at both ends, where P1 is related to the system pressure, and P2 is related to the load size of the cylinder 1 and the hydraulic motor 5, and the difference △P is basically a constant. According to the thin-wall hole flow calculation, by changing the orifice area A of the damping hole, that is, replacing the hydraulic damper 28 with different damping hole diameters, the output flow of the system is changed to achieve speed regulation. The thin-wall hole flow is calculated according to the following formula:

[0059]

[0060] In the formula, Δp represents the pressure difference before and after the orifice (Pa); A represents the orifice area (m 2 );ρ represents the density of the fluid (Kg / m 3 );Cd represents the fluid coefficient;q v : Flow rate (m 3 / s).

[0061] The utility model forms a thin-wall hole flow through a damping hole, thereby adjusting the flow in the hydraulic system, and further making the movement speed of the actuator adjustable.

[0062] The oil outlet P of the power unit 3 is fixedly connected to the oil inlet end P of the oil passage 29 through the oil circuit, and the filter 22 is installed in the oil passage 29; the oil return port T of the power unit 3 is fixedly connected to the oil return end T of the oil passage 29 through the oil circuit;

[0063] The power unit 3 includes a motor 31, a hydraulic pump 32, a solenoid valve 33, a relief valve 34, a valve block 35, a hydraulic oil tank 36 and a one-way valve 37; the motor 31 is fixedly mounted on the hydraulic oil tank 36, the output end of the motor 31 is fixedly connected to the hydraulic pump 32 built in the hydraulic oil tank 36, the solenoid valve 33, the relief valve 34 and the one-way valve 37 are plugged and fixedly mounted on the valve block 35; the one-way valve 37 is fixedly connected to the oil inlet end of the oil channel 29 through the oil circuit; one end of the solenoid valve 33 is connected to the connecting oil circuit of the one-way valve 37 and the oil channel 29, and the other end of the solenoid valve 33 is located in the hydraulic oil tank 36; the return oil end T of the oil channel 29 is fixedly connected to the return oil port T of the hydraulic oil tank 36;

[0064] Preferably, the solenoid valve 33 adopts a normally closed two-position two-way solenoid valve; when starting, the solenoid valve 33 is first energized to open, and then the motor 31 is started to drive the hydraulic pump 32 to absorb oil. Since the solenoid valve 33 is energized and turned on, the oil will directly enter the oil tank through the solenoid valve 33, and the hydraulic system is basically unloaded, and the motor 31 only needs a very small power to start; when the motor 31 is started for 2S, the motor 31 is running normally, and the solenoid valve 33 is powered off, the solenoid valve 33 becomes a long-closed state, and the oil cannot pass through. After the one-way valve 37, the oil is input from the oil outlet P port through the integrated control valve group 2 to the oil cylinder 1 or the hydraulic motor 5, so that the oil cylinder 1 or the hydraulic motor 5 can be operated; the utility model can realize low-power and low-current starting of the hydraulic system;

[0065] Preferably, the solenoid valve 33 is replaced by a normally open two-position two-way solenoid valve; when the motor 31 is started, since the solenoid valve 33 is normally open, the oil circuit is connected, the oil can pass through the solenoid valve 33, and there is no load in the hydraulic system, which can also play a role in starting the motor 31 with a low current; when the motor 31 is started normally, the solenoid valve 33 is energized, and it is important to ensure that the solenoid valve 33 is energized at all times, the oil circuit in the solenoid valve 33 is disconnected, and the oil cannot pass through.

[0066] The utility model can realize the starting of the motor 31 under no-load or light-load state without causing the motor 31 to malfunction. When the motor 31 starts and runs stably, it can be switched to the normal mode to avoid power failure caused by excessive starting current.

[0067] The emergency manual valve group 4 includes an emergency manual pump 41 and a one-way valve 42; the oil inlet end of the emergency manual pump 41 is connected to the oil return port T of the hydraulic oil tank 36, the oil return end of the emergency manual pump 41 is fixedly connected to the connecting oil circuit between the oil passage 29 and the one-way valve 37, and the one-way valve 42 is fixedly installed on the oil circuit of the oil return end of the emergency manual pump 41;

[0068] When the system fails and the motor cannot be started, the emergency manual control 211 of the solenoid valve 21 is dialed, and then the emergency manual pump 41 is manually operated. The emergency manual pump 41 sucks oil from the return oil port T of the hydraulic oil tank 36 and inputs the oil to the cylinder 1 or the hydraulic motor 5 through the integrated control valve group 2, thereby causing the cylinder 1 or the hydraulic motor 5 to perform an action; the solid arrow is the oil return path of the actuator and the oil suction path of the emergency manual pump 41, both of which are sucked into the emergency manual pump 41, and the dotted arrow is the oil path of the emergency manual pump 41 input to the actuator; the utility model can realize manual operation to play an emergency function when a system failure occurs.

[0069] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hydraulic system for a sanitation cleaning robot, comprising an actuator and a power unit (3), characterized in that: It also includes an integrated control valve group (2) and an emergency manual valve group (4); The integrated control valve group (2) comprises a second solenoid valve (21), a filter (22), a signal transmitter (23), a second relief valve (24), a second valve block (25), a hydraulic lock (26) and a solenoid valve jack (27); the upper end of the second valve block (25) is provided with a plurality of solenoid valve jacks (27) for plugging and fixing the second solenoid valve (21); the front end of the second valve block (25) is plugged and fixedly installed with the second relief valve (24); the interior of the second valve block (25) is fixedly connected with a plurality of hydraulic locks (26); the valve block (25) is also fixedly installed with a filter (22) and a signal transmitter (23); the interior of the second valve block (25) is provided with a plurality of oil passages (29); the oil outlet ends of the oil passages (29) are respectively connected with the oil passages of the actuators; The power unit (3) comprises a motor (31), a hydraulic pump (32), a solenoid valve (33), a relief valve (34), a valve block (35), a hydraulic oil tank (36) and a check valve (37); the motor (31) is fixedly mounted on the hydraulic oil tank (36); the output end of the motor (31) is fixedly connected to the hydraulic pump (32) built in the hydraulic oil tank (36); the solenoid valve (33), the relief valve (34) and the check valve (37) are plugged and fixedly mounted on the valve block (35); the check valve (37) is fixedly connected to the oil inlet end of the oil channel (29) through an oil circuit; one end of the solenoid valve (33) is connected to the connecting oil circuit between the check valve (37) and the oil channel (29); and the oil return end of the oil channel (29) is fixedly connected to the oil return port of the hydraulic oil tank (36).

2. The hydraulic system for a sanitation cleaning robot according to claim 1, characterized in that: The filter (22) is installed in the oil passage (29); and the hydraulic lock (26) is installed from the lower part of the valve block 2 (25) to the inside of the valve block 2 (25).

3. The hydraulic system for the sanitation cleaning robot according to claim 2, characterized in that: The inside of the oil passage (29) is threadedly mounted with a hydraulic damper (28), and a damping hole is processed at the center of the hydraulic damper (28).

4. The hydraulic system for the sanitation cleaning robot according to claim 3, characterized in that: The actuator comprises an oil cylinder (1) and a hydraulic motor (5); the oil cylinder (1) is connected to a power unit (3) via an integrated control valve group (2), and the hydraulic motor (5) is connected to the power unit (3) via a third solenoid valve (6); an emergency manual valve group (4) is connected between the integrated control valve group (2) and the power unit (3); and the oil outlet end and the oil return end of the oil passage (29) are connected to the oil circuits of the oil cylinder (1) and the hydraulic motor (5).

5. The hydraulic system for the sanitation cleaning robot according to claim 4, characterized in that: The electromagnetic valve 3 (6) and the electromagnetic valve 2 (21) are both threadedly inserted and fixedly connected to the valve block 2 (25); the hydraulic lock (26) is threadedly inserted and fixedly connected inside the valve block 2 (25).

6. The hydraulic system for the sanitation cleaning robot according to claim 5, characterized in that: The total number of the solenoid valves 2 (21) and the solenoid valves 3 (6) is the same as the number of the hydraulic locks (26); the oil inlet end and the oil return end of the oil passage (29) are both installed with hydraulic dampers (28); and each group of the solenoid valves 2 (21), the hydraulic lock (26) and the two hydraulic dampers (28) are all located on the same oil passage (29); and one group of the solenoid valves 3 (6), the hydraulic lock (26) and the two hydraulic dampers (28) are all located on the same oil passage (29).

7. The hydraulic system for the environmental sanitation cleaning robot according to claim 6, characterized in that: The solenoid valve 1 (33) is a normally closed two-position two-way solenoid valve.

8. The hydraulic system for the environmental sanitation cleaning robot according to claim 7, characterized in that: Solenoid valve 1 (33) is replaced by a normally open two-position two-way solenoid valve.

9. The hydraulic system for the environmental sanitation cleaning robot according to claim 8, characterized in that: The emergency manual valve group (4) comprises an emergency manual pump (41) and a one-way valve (42); the oil inlet end of the emergency manual pump (41) is connected to the oil return port of the hydraulic oil tank (36), the oil return end of the emergency manual pump (41) is fixedly connected to the connecting oil circuit between the oil passage (29) and the one-way valve (37), and the one-way valve (42) is fixedly installed on the oil circuit of the oil return end of the emergency manual pump (41).

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